diff --git a/msg/BatteryStatus.msg b/msg/BatteryStatus.msg
index 65845b57ae..ab20201f8b 100644
--- a/msg/BatteryStatus.msg
+++ b/msg/BatteryStatus.msg
@@ -12,10 +12,11 @@ float32 time_remaining_s	# predicted time in seconds remaining until battery is
 float32 temperature			# temperature of the battery. NaN if unknown
 uint8 cell_count			# Number of cells, 0 if unknown
 
+uint8 source				# Battery source
 uint8 BATTERY_SOURCE_POWER_MODULE = 0
 uint8 BATTERY_SOURCE_EXTERNAL = 1
 uint8 BATTERY_SOURCE_ESCS = 2
-uint8 source				# Battery source
+
 uint8 priority				# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity				# actual capacity of the battery
 uint16 cycle_count			# number of discharge cycles the battery has experienced
@@ -33,7 +34,7 @@ float32 max_cell_voltage_delta	# Max difference between individual cell voltages
 bool is_powering_off			# Power off event imminent indication, false if unknown
 bool is_required			# Set if the battery is explicitly required before arming
 
-
+uint8 warning		# Current battery warning
 uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
 uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
 uint8 BATTERY_WARNING_CRITICAL = 2	# critical voltage, return / abort immediately
@@ -42,6 +43,7 @@ uint8 BATTERY_WARNING_FAILED = 4	# the battery has failed completely
 uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
 uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
 
+uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication
 uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
 uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
 uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
@@ -55,11 +57,9 @@ uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
 uint8 BATTERY_WARNING_OVER_TEMPERATURE = 10 # Over-temperature
 uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
 
-uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
 uint32 custom_faults 	# Bitmask indicating smart battery internal manufacturer faults, those are not user actionable.
-uint8 warning		# Current battery warning
-uint8 mode 		# Battery mode. Note, the normal operation mode
 
+uint8 mode 		# Battery mode. Note, the normal operation mode
 uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational
 uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level)
 uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode
diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp
index bace756c65..ad63e8bfc3 100644
--- a/src/drivers/uavcan/sensors/battery.cpp
+++ b/src/drivers/uavcan/sensors/battery.cpp
@@ -97,12 +97,10 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	}
 
 	if (_batt_update_mod[instance] == BatteryDataType::Filter) {
-
 		filterData(msg, instance);
 		return;
 	}
 
-	_battery_status[instance].timestamp = hrt_absolute_time();
 	_battery_status[instance].voltage_v = msg.voltage;
 	_battery_status[instance].voltage_filtered_v = msg.voltage;
 	_battery_status[instance].current_a = msg.current;
@@ -115,18 +113,13 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	}
 
 	_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
-	// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
 	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
-	// _battery_status[instance].cell_count = msg.;
 	_battery_status[instance].connected = true;
 	_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
-	// _battery_status[instance].priority = msg.;
 	_battery_status[instance].capacity = msg.full_charge_capacity_wh;
 	_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
 	_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
-	// _battery_status[instance].cycle_count = msg.;
 	_battery_status[instance].time_remaining_s = NAN;
-	// _battery_status[instance].average_time_to_empty = msg.;
 	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get();
 
@@ -138,12 +131,9 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 		_battery_status[instance].cell_count = 1;
 	}
 
-	// _battery_status[instance].max_cell_voltage_delta = msg.;
-
-	// _battery_status[instance].is_powering_off = msg.;
-
 	determineWarning(_battery_status[instance].remaining);
 	_battery_status[instance].warning = _warning;
+	_battery_status[instance].timestamp = hrt_absolute_time();
 
 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
 		publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
diff --git a/src/drivers/uavcan/sensors/battery.hpp b/src/drivers/uavcan/sensors/battery.hpp
index ceb6222da0..6d6af9d4ab 100644
--- a/src/drivers/uavcan/sensors/battery.hpp
+++ b/src/drivers/uavcan/sensors/battery.hpp
@@ -107,10 +107,9 @@ private:
 
 	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
 
-	Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-	Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
-
-	Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
+	Battery battery1{BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
+	Battery battery2{BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
+	Battery battery3{BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
+	Battery battery4{BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
+	Battery *_battery[battery_status_s::MAX_INSTANCES] {&battery1, &battery2, &battery3, &battery4};
 };